具有扇区输入非线性的三轴MEMS陀螺仪鲁棒自适应控制

Robust adaptive control for MEMS triaxial gyroscope with sector input nonlinearities

微机电系统(micro-electro-mechanic system,MEMS)陀螺仪在制造和应用过程中会受到系统参数不确定、外界干扰和力电换能器非线性效应的影响,降低MEMS陀螺仪的检测精度。提出一种基于增益自适应的滑模控制策略对MEMS陀螺仪3个轴向轨迹进行控制,采用一种基于时变死区技术的积分自适应律估计参数不确定和干扰的上界以避免估计发散,选择合适的控制律消除非线性扇区输入的影响,实现陀螺3个轴向的轨迹跟踪指定的参考运动,从而提高检测精度。最后利用Lyapunov直接法证明了闭环误差系统的渐近稳定性和所有信号的有界性。仿真结果表明了该策略的有效性。

A sliding mode controller is presented to deal with the parametric uncertainties,external disturb-ances and the sector input nonlinearities of the micro-electro-mechanic system （MEMS ）triaxial gyroscope, which could reduce the detection precision of the MEMS gyroscope.The upper bounds of parametric uncertain-ties and external disturbances are estimated by using a novel integral adaptive algorithm based on the time-var-ying dead-zone technique which can avoid overestimating,and the effect of the sector input nonlinearities is elim-inated by adopting the appropriate control law,so as to make the motion of the MEMS gyroscope triaxial axes to track the specified refence traj ectory,improving the detection precision.Finally,the asymptotic stability of the closed-loop error system as well as boundedness of all the signals are analyzed and proved via the Lyapunov’s di-rect method.The numerical simulations are performed to verify the effectiveness of the presented schemes.